Vehicle and method of control thereof

ABSTRACT

The invention provides a speed control system and method for a hybrid electric vehicle, the vehicle having an engine ( 121 ), an electric machine ( 123 ) and a mode switch ( 169 ), to allow switching between a first speed control mode (EV) and a second speed control mode (HEV). When the control system is in the first mode and at least one of a prescribed one or more conditions is met, e.g. a rate of acceleration demanded by the driver or a difference between a target vehicle speed and a current vehicle speed exceeds a respective prescribed threshold value, the system is operable to not limit operation of the vehicle to the EV mode.

RELATED APPLICATIONS

This application is a 35 U.S.C. §371 national stage application of PCTApplication No. PCT/EP2013/076130, filed on Dec. 10, 2013, which claimspriority from Great Britain Patent Application No. 1222181.8, filed onDec. 10, 2012, the contents of which are incorporated herein byreference in their entireties. The above-referenced PCT InternationalApplication was published in the English language as InternationalPublication No. WO 2014/090825 A2 on Jun. 19, 2014.

FIELD OF THE INVENTION

The present invention relates to vehicles having adaptive cruise controland regenerative braking capability. In particular but not exclusivelyembodiments of the invention relate to electric vehicles and to hybridelectric vehicles.

BACKGROUND

It is known to provide a motor vehicle having an adaptive cruise control(ACC) system. The ACC system is operable to maintain the host vehicle ata driver set speed unless a vehicle ahead of the host vehicle istravelling at a slower speed. If such a vehicle is encountered, the ACCsystem is operable to allow the driver to indicate a desired followingdistance that is to be maintained behind the followed vehicle. The ACCsystem controls a powertrain and a foundation braking system of the hostvehicle to maintain the driver desired distance behind the followedvehicle. The ACC system is operable to resume the driver set speed ifthe followed vehicle is passed or moves aside.

It is desirable to provide ACC functionality in a hybrid electricvehicle in such a manner as to allow efficient operation of the hybridvehicle.

STATEMENT OF THE INVENTION

Embodiments of the invention may be understood with reference to theappended claims.

Aspects of the present invention provide a control system, a vehicle anda method.

In one aspect of the invention for which protection is sought there isprovided a speed control system for a hybrid electric vehicle, thevehicle having at least one engine and at least one electric machine,the system being operable to allow a driver to set a target vehiclespeed, the system being operable in first and second speed control modesto control the vehicle to maintain the target vehicle speed, in thefirst speed control mode the system being configured to limit operationof the vehicle to an electric vehicle (EV) mode, in the second speedcontrol mode the system being configured not to limit operation of thevehicle to the EV mode, wherein when the control system is in the firstmode and at least one of a prescribed one or more conditions is met, thesystem is operable to not limit operation of the vehicle to the EV mode.

Embodiments of the invention have the advantage that operation of thevehicle in EV mode takes place unless one or more of the prescribed oneor more conditions is met. Thus embodiments of the invention increase alikelihood that a vehicle will continue to operate in EV mode even whena speed control system is selected by a driver.

It is to be understood that if when in the first mode at least one ofthe prescribed one or more conditions is met, the system may be operableto not limit operation of the vehicle to the EV mode by assuming thesecond mode. The system may subsequently revert to the first mode oncethe prescribed one or more conditions are no longer met, and,optionally, one or more further prescribed conditions are also met.Other arrangements are also useful.

The system may be operable to maintain a prescribed distance behind afollowed vehicle at a speed not exceeding the target vehicle speed, theprescribed distance optionally corresponding to a driver-prescribeddistance.

A value of the prescribed distance may be determined by the vehicle independence on a speed of the vehicle. Thus the prescribed distance mayincrease with vehicle speed in some embodiments.

The system may be operable to determine a required rate of accelerationof the vehicle in order to maintain the prescribed distance behind thefollowed vehicle, the system being operable in the first mode to limitoperation of the vehicle to the EV mode by limiting a maximum rate ofacceleration that may be commanded by the system to a rate that isachievable in EV mode.

The system may be operable in the first mode to limit the maximum rateof acceleration that may be commanded by the system to a ratecorresponding substantially to the maximum rate achievable in EV mode.

Alternatively or in addition the system may be operable in the firstmode to limit operation of the vehicle to the EV mode by limiting amaximum amount of torque that may be commanded by the system to anamount that is achievable in EV mode.

The system may be operable in the first mode to limit the maximum amountof torque that may be commanded by the system to a rate correspondingsubstantially to the maximum amount achievable in EV mode.

It is to be understood that by reference to a rate of acceleration oramount of torque that is achievable in EV mode is meant a current valueof achievable rate of acceleration or amount of torque, being the valueachievable at a given moment in time as the vehicle travels. Theachievable value may depend for example on battery state of charge,temperature of one or more components such as a propulsion motor, and/orone or more other parameters and therefore may vary during the course ofa given journey. The system may be operable to receive datacorresponding to maximum achievable acceleration rate and/or torque orcalculate the maximum achievable value in response to data in respect ofthe value of one or more parameters.

In some embodiments the system may be operable wherein the prescribedone or more conditions includes a condition that the driver demands arate of acceleration of the vehicle which exceeds a prescribed thresholdvalue.

Such driver-demanded acceleration which exceeds a prescribed thresholdvalue may for example result from a change, especially a relativelysudden change, in any of various driving or road conditions. Examples ofsuch changes may include for instance an encountering of an increasedlegal speed limit or a turning off or a sudden speeding away of afollowed vehicle.

In other embodiments the system may be operable wherein the prescribedone or more conditions includes a condition that the driver demands anamount of drive torque which exceeds a prescribed threshold value.

Likewise, such driver-demanded drive torque which exceeds a prescribedthreshold value may for example result from a change, especially arelatively sudden change, in any of various driving or road conditions.Examples of such changes may include for instance an encountering of anincreased gradient of a driving surface or a particularly uneven drivingterrain.

In still other embodiments the system may be operable wherein theprescribed one or more conditions includes a condition that a differencebetween the target vehicle speed and a current vehicle speed exceeds aprescribed value, such as a prescribed delta_speed value.

The prescribed delta speed value may be determined in dependence atleast in part on a gradient of a surface over which the vehicle isdriving.

The gradient of the driving surface may be determined in dependence onmeasurement of a pitch angle of the vehicle. Other methods are alsouseful.

The delta speed value may be arranged to reduce with increasing uphillgradient and/or decrease with increasing downhill gradient.

Advantageously, the system may be operable wherein one of the prescribedone or more conditions includes a condition that a difference betweenthe target vehicle speed and a current vehicle speed exceeds aprescribed delta_speed value and a followed vehicle is accelerating at arate exceeding a prescribed rate, which may be a followed vehicleacceleration rate.

The prescribed followed vehicle acceleration rate may be arranged toreduce with increasing uphill gradient and/or decrease with increasingdownhill gradient.

The prescribed followed vehicle acceleration rate may be determined atleast in part in dependence on gradient of a surface over which thevehicle is driving.

It is to be understood that when the vehicle (which may be referred toas a host vehicle since it hosts the ACC system) is operated in thefirst mode (which may also be referred to as an economy or ECO mode)under relatively gentle driving conditions the vehicle may follow afollowed vehicle and maintain a relatively constant distance behind thefollowed vehicle with the at least one engine switched off, therebyreducing fuel consumption.

However, in some scenarios, when in the first mode the followed vehiclemay accelerate away from the host vehicle at a rate exceeding that whichmay be achieved by the host vehicle with the at least one engineswitched off. A distance between the host vehicle and the followedvehicle may therefore increase at a rate that decreases driverenjoyment. In order to overcome this problem, the ACC system may beconfigured such that if the followed vehicle accelerates at a rate suchthat the speed difference between the followed vehicle and the hostvehicle exceeds a prescribed value the at least one engine is switchedon in order to enable the host vehicle to achieve a higher rate ofacceleration.

In some embodiments the at least one engine may be switched on until thespeed difference between the followed and host vehicles falls below aprescribed threshold speed value. Other arrangements may also be useful.

It is to be understood that if the host vehicle is following a followedvehicle in relatively slow moving traffic such that the speed differenceexceeds the prescribed value but the followed vehicle is also travelingat a relatively slow speed (for example, a speed below a prescribed lowspeed threshold such as 10 km/h, 15 km/h, 20 km/h or any other suitablevalue), the ACC system may be arranged to maintain the at least oneengine switched off.

The prescribed rate of acceleration of the followed vehicle maycorrespond substantially to the maximum rate of acceleration that thesystem is permitted to command when the system is operating in the firstmode and none of the prescribed one or more conditions is met.

Other values are also useful, such as a value corresponding to themaximum rate of acceleration that the system is permitted to commandwhen the system is operating in the first mode multiplied by a factorsuch as 1.3, 1.5, 1.7, 2 or any other suitable value.

The prescribed one or more conditions may include a condition that thedriver demands a rate of acceleration of the vehicle which exceeds aprescribed threshold value.

Alternatively or in addition the prescribed one or more conditions mayinclude a condition that the driver demands an amount of drive torquewhich exceeds a prescribed threshold value.

The system may be operable automatically to assume the second mode ifwhilst in the first mode the at least one engine is started more than aprescribed number of times within a prescribed period of time.

The system may be operable automatically to assume the second mode ifwhilst in the first mode it is determined that a density of trafficexceeds a prescribed value.

The system may be operable to determine the density of trafficresponsive to traffic density data received by the system from a trafficinformation service.

The ACC means may for example be provided with data in respect of thepresence of one or more other vehicles behind, ahead of and/or to theside of the host vehicle in addition to the presence of the followedvehicle ahead, and from which vehicles passing or vehicles being passedmay be detected. Optionally the data may be provided by another vehiclesystem responsive to detection of other vehicles, for example by meansof one or more radar or ultrasonic sensors or other arrangement. In someembodiments one or more parking sensors may be employed to detecttraffic. This feature has the advantage that data that may be acquiredby an existing vehicle system may be employed, eliminating a requirementto install dedicated sensors for the ACC system.

The system may be operable to determine the density of trafficresponsive to detection of a prescribed number of vehicles passing thevehicle within a prescribed period of time.

The system may be operable to determine the density of trafficresponsive to detection of a prescribed number of vehicles passed by thevehicle within a prescribed period of time.

Advantageously the system may be operable automatically to assume thesecond mode if whilst in the first mode the driver increases the rate ofacceleration of the vehicle above the maximum value available in EVmode, for example by actuation of an accelerator pedal, one or moreselected from a prescribed number of times in a given time period, aprescribed number of times over a given distance and a prescribed numberof times over a given journey.

It is to be understood that a driver might demand drive torque exceedingthat which may be providable in the first mode when a gap between thehost vehicle and the vehicle ahead increases at a rate causing concernto the driver. The driver's demand for torque indicates that the hostvehicle is unable to meet the driver's currently desired driving style.Accordingly the ACC system may assume the second mode in order no longerto constrain the maximum achievable rate of acceleration of the vehicle.Such activity might also be undertaken if the vehicle is being driven onan undulating driving surface, such as over hilly terrain. Thus in someembodiments the ACC system may be operable to switch from the first modeto the second mode in the event it is determined that the vehicle isdriving over excessively undulating terrain.

Advantageously one of the prescribed one or more conditions may includea condition that the maximum rate of acceleration achievable by thevehicle in EV mode is below a prescribed threshold value.

By way of example, if the vehicle is ascending a hill whilst in thefirst mode with the at least one engine switched off, the ACC system maydetermine that the maximum achievable rate of acceleration is below theprescribed threshold value. The ACC system may therefore triggerstarting of the at least one engine in order to ensure that adequateacceleration is available should it be required.

Alternatively or in addition, one of the prescribed one or moreconditions may include a condition that the maximum amount of torqueachievable by the vehicle in EV mode is below a prescribed thresholdvalue.

The ACC system may be arranged to monitor the rate of accelerationachievable by the vehicle in EV mode even whilst the at least one engineis switched on. If the ACC system determines that the rate ofacceleration that would be achievable in EV mode exceeds the prescribedthreshold value below which the at least one engine is switched on, theACC system may be arranged to trigger operation in EV mode (andtherefore shutdown of the at least one engine) provided the currentvalue of driver demanded torque so permits. It is to be understood thata hysteresis may be introduced in respect of the value of achievablerate of acceleration below which the at least one engine is switched onand the value above which the at least one engine may be switched off inorder to prevent mode chattering.

The system may comprise driver-operable means for selecting one of thefirst and second modes of operation.

The system may be operable to store data in respect of geographicallocations at which an engine start has been commanded by the controlsystem, when the vehicle subsequently approaches the same location insubstantially the same direction of travel the system being operable tostart the at least one engine in advance of arrival at the location suchthat drive torque generated as a consequence of starting the at leastone engine may be delivered to a driveline of the vehicle substantiallyat said location.

The system may be configured to start the at least one engine in advanceof arrival at the location such that drive torque from the engine may bedelivered to a driveline of the vehicle substantially at said location.

The system may be configured to store said data in respect ofgeographical location only when the at least one engine was started inthe absence of driver intervention causing an engine start such asaccelerator pedal actuation.

Alternatively or in addition the system may be configured to store saiddata in respect of geographical location only when the at least oneengine was started when the traffic density was below a threshold value.

Alternatively or in addition the system may be configured to store saiddata in respect of geographical location only when any followed vehiclewas not accelerating at a rate exceeding a prescribed rate therebytriggering an engine start.

Optionally, the system may be operable to store said data in respect ofgeographical location only when the at least one engine was started (1)in the absence of driver intervention, (2) when the traffic density wasbelow a threshold value and (3) when any followed vehicle was notaccelerating at a rate exceeding a prescribed rate.

In a further aspect of the invention for which protection is soughtthere is provided a hybrid electric vehicle comprising a systemaccording to the preceding aspect or any embodiment thereof.

In another aspect of the invention for which protection is sought thereis provided a method of controlling speed of a hybrid electric vehicleimplemented by a control system, the method comprising:

-   -   allowing a driver to set a target vehicle speed;    -   controlling the vehicle to maintain the target speed;    -   in a first mode of operation of the control system the method        comprising limiting operation of the vehicle to an electric        vehicle (EV) mode;    -   in a second mode of operation of the control system the method        comprising not limiting operation of the vehicle to the EV mode;    -   wherein when the control system is in the first mode and at        least one of a prescribed one or more conditions is met, the        method comprises not limiting operation of the vehicle to the EV        mode.

In a further aspect of the invention for which protection is soughtthere is provided a method of controlling a hybrid electric vehiclehaving a powertrain comprising at least one electric propulsion motorand at least one engine; and adaptive cruise control (ACC) means, themethod comprising allowing a driver to set a target vehicle speed andcontrolling the powertrain to maintain a prescribed distance behind afollowed vehicle subject to the condition that the target speed is notexceeded, the method comprising operating the ACC system in one of afirst mode in which the at least one engine is maintained switched offand a second mode in which the ACC means does not restrict switching onof the at least one engine, when in the first mode the method comprisingdetermining by means of the ACC system whether a difference between thetarget vehicle speed and a current vehicle speed exceeds a prescribedvalue, in the event the difference does exceed the prescribed value themethod comprising starting the at least one engine in order to increasethe available rate of acceleration.

In one aspect of the invention for which protection is sought there isprovided an adaptive cruise control (ACC) system for a hybrid electricvehicle having a powertrain comprising at least one electric propulsionmotor and at least one engine, the ACC system being operable to allow adriver to set a target vehicle speed, the ACC system being furtheroperable to control a powertrain of the vehicle so as to maintain thevehicle a prescribed distance behind a followed vehicle subject to thecondition that the target speed is not to be exceeded, the ACC systembeing operable in a first mode in which the at least one engine ismaintained switched off and a second mode in which the ACC means doesnot restrict switching on of the at least one engine, wherein when theACC system is in the first mode and a difference between the targetvehicle speed and a current vehicle speed exceeds a prescribed value theACC system is operable to command starting of the at least one engine inorder to increase the available rate of acceleration.

In an aspect of the invention there is provided a speed control systemfor a hybrid electric vehicle, the vehicle having at least one engineand at least one electric machine. The system may be operable to allow adriver to set a target vehicle speed. The system may be operable infirst and second speed control modes to control the vehicle to maintainthe target vehicle speed. In the first speed control mode the system maybe configured to limit operation of the vehicle to an electric vehicle(EV) mode. In the second speed control mode the system may be configurednot to limit operation of the vehicle to the EV mode. When the controlsystem is in the first mode and at least one of a prescribed one or moreconditions is met, e.g. a rate of acceleration demanded by the driver ora difference between a target vehicle speed and a current vehicle speedexceeds a respective prescribed threshold value, the system may beoperable to not limit operation of the vehicle to the EV mode.

BRIEF DESCRIPTION OF THE DRAWINGS

Embodiments of the invention will now be described with reference to theaccompanying drawings in which:

FIG. 1 is a schematic illustration of a hybrid electric vehicle (HEV)according to an embodiment of the present invention; and

FIG. 2 is a schematic illustration showing a hybrid electric vehicleaccording to an embodiment of the present invention behind a followedvehicle.

DETAILED DESCRIPTION

FIG. 1 shows a hybrid electric vehicle (HEV) 100 according to anembodiment of the present invention. The vehicle 100 has an internalcombustion engine 121 and associated controller 121C. The engine 121 isreleasably coupled to a crankshaft integrated motor/generator (CIMG) 123by means of a clutch 122. The CIMG 123 is in turn coupled to anautomatic transmission 124. It is to be understood that in someembodiments the transmission 124 may be a manual transmission instead ofan automatic transmission. The transmission may comprise a manualgearbox, a continually variable transmission or any other suitabletransmission.

The vehicle 100 is operable to provide drive torque to the transmission124 by means of the engine 121 alone, the CIMG 123 alone or the engine121 and CIMG 123 in parallel.

The vehicle 100 may therefore be referred to as a parallel-type hybridvehicle. However it is to be understood that embodiments of theinvention are also suitable for use with series-type hybrid vehicles inwhich only one or more electric machines are operable to provide motivetorque, i.e. are operable as propulsion motors. In series-type hybridvehicles an engine is provided for generating charge to power the one ormore electric machines and not for providing direct drive torque. Insome series-type hybrid vehicles the engine may be employed to generatecharge to drive the one or more electric machines as propulsion motorswhilst the one or more electric machines are providing propulsion to thevehicle in addition to or instead of charge delivered to the one or morepropulsion motors from a battery of the vehicle. This enables more powerto be developed by the motors in some embodiments. Some embodiments ofthe invention are useful in hybrid vehicles operable in either one of aparallel or series mode at a given moment in time.

It is to be understood that embodiments of the present invention aresuitable for use with vehicles in which the transmission 124 is arrangedto drive only a pair of front wheels 111, 112 or only a pair of rearwheels 114, 115, i.e. front wheel drive or rear wheel drive vehicles inaddition to all wheel drive or selectable two wheel drive/four wheeldrive vehicles. Embodiments of the invention are also suitable forvehicles having fewer than four wheels or more than four wheels.

The vehicle 100 has a battery 150 connected to an inverter 151 thatgenerates a three-phase electrical supply that is supplied to the CIMG123 when the CIMG 123 is operated as a motor. The battery 150 isarranged to receive charge from the CIMG 123 when the CIMG 123 isoperated as a generator. The CIMG 123 may be operated as a generator inorder to provide regenerative braking functionality in some embodiments.A brake controller 191C is arranged to control application of frictionbraking and/or regenerative braking according to a brake controlmethodology. According to the methodology, if the amount of brakingrequired can be met by regenerative braking, regenerative braking aloneis employed. If it cannot, then friction braking is employed in additionto regenerative braking.

The vehicle 100 is configured to allow a powertrain 129 of the vehicle100 to operate in one of a hybrid electric vehicle (HEV) mode, an EVinhibit mode and a selectable electric vehicle only (EV-only) modeaccording to the state of a HEV mode selector 169.

In the HEV mode of operation the powertrain 129 is arranged to operatein one of a parallel boost mode, a parallel recharge mode, a parallelidle mode and a vehicle-selected EV mode.

In the parallel boost mode the engine 121 and CIMG 123 both applypositive torque to the transmission 124 (i.e. clutch 122 is closed) todrive the vehicle 100. In the parallel recharge mode the engine 121applies a positive torque to the transmission 124 whilst the CIMG 123applies a negative torque whereby charge may be generated by the CIMG123 to charge the battery 150. In the parallel idle mode the engine 121applies a positive torque to the transmission 124 whilst the CIMG 123applies substantially no torque. In the vehicle-selected EV mode (and inthe driver selected EV-only mode) the clutch 122 is opened and theengine 121 is switched off. In the driver selected EV-only mode the CIMG123 is operable to apply positive drive torque (or negative regenerativebrake torque) to the transmission 124.

The vehicle 100 has a controller 140 configured wherein when HEV mode isselected the powertrain 129 is operated in either the parallel boostmode, parallel recharge mode or EV mode according to an energymanagement strategy. The energy management strategy may also be referredto as a HEV control methodology.

It is to be understood that when in HEV mode the controller 140 isconfigured to determine a target torque that is to be developed by eachof the engine 121 and CIMG 123 at least in part in dependence on anamount of driver demanded torque at a given moment in time. Thecontroller 140 then causes the engine 121 and CIMG 123 to apply therespective target torques to an input shaft of the transmission 124. Forexample, if the controller 140 determines that operation invehicle-selected EV mode is required, the controller 140 sets the targettorque from the engine 121 to zero and provides a control signal toswitch off the engine 121. The CIMG 123 is then caused to meet thedriver torque demand. If the controller 140 determines that both theengine 121 and CIMG 123 are required to apply positive torque to thedriveline 130 the controller 140 causes the engine 121 and CIMG 123 toprovide the required values of torque to the driveline 123. If thecontroller 140 determines that the battery 150 is required to becharged, the CIMG 123 is controlled to apply a prescribed negativetorque to the driveline 130 such that the CIMG 123 acts as a generatorto generate charge to charge the battery 150.

It is to be understood that other arrangements may also be useful.

If the driver selects operation in the EV inhibit mode, the controller140 is configured not to allow automatic stopping of the engine 121.Rather, the controller 140 maintains the engine 121 switched on. In someembodiments, in EV inhibit mode the vehicle is controlled such that whendrive torque is required the drive torque is delivered by the engine 121alone. In some embodiments, when in EV inhibit mode the vehicle iscontrolled such that driver torque is provided by the engine 121 incombination with the CIMG 123. Use of the engine 121 in combination withthe CIMG 123 may be particularly useful if the engine 121 alone isunable to develop sufficient drive torque to meet driver torque demand.

If the driver selects operation of the vehicle 100 in EV-only mode andthe engine 121 is running, the vehicle 100 is configured to open theclutch 122 and to switch off the engine 121. Again, the CIMG 123 is thenoperated either as a motor or as a generator. It is to be understoodthat the CIMG 123 may be arranged to act as a generator in the EV-onlymode in order to effect regenerative braking of the vehicle 100 andemulate over-run/compression braking torque. However, operation of theCIMG 123 to effect regenerative braking is not limited to the EV-onlymode and may be employed in any powertrain mode or vehicle mode.

The vehicle 100 has an adaptive cruise control (ACC) system 110Aoperable to implement an adaptive cruise control methodology. The ACCsystem 110A is operable to allow a driver to set a target speedtarget_speed being a speed that the ACC system 110A will seek to controlthe host vehicle 100 to maintain in the absence of slower traffic aheadof the vehicle 100.

The system 110A is configured to allow a driver to set a driver desireddistance d_driver being a distance behind a followed vehicle 100′ thatthe driver wishes to maintain behind a followed vehicle 100′ subject tothe limitation that the speed of the host vehicle 100 is not to exceedthe target speed target_speed. FIG. 2 shows schematically a scenario inwhich the host vehicle 100 is behind a followed vehicle 100′ that istravelling at a speed less than the target speed target_speed of thehost vehicle 100.

The ACC system 110A is operable in a ‘normal’ (conventional) cruise modeof operation in which the system 110A is arranged to maintain a distancebehind the followed vehicle 100′ that is substantially equal tod_driver. The ACC system 110A determines the distance between the hostvehicle 100 and followed vehicle 100′ by means of a radar module 101R.

In the present embodiment, the driver selects one of three distancesettings (setting 1, setting 2 or setting 3) corresponding tosuccessively greater following distances. The actual value to whichd_driver is set by the ACC system 110A depends on whether setting 1,setting 2 or setting 3 is selected by the driver and the speed of thevehicle 100. The greater the speed of the vehicle, the greater the valueof d_driver set by the system 110A for a given distance setting (i.e.setting 1, 2 or 3). Other arrangements are also useful, such as othernumbers of settings. In some embodiments only one setting is available,whilst in others a plurality of settings are available.

In some embodiments, in addition or instead the ACC system 110A isoperable to allow the driver to command the system 110A to maintain adistance behind the followed vehicle 100′ corresponding to a currentdistance of the following (or host) vehicle 100 behind the followedvehicle 100′, i.e. d_driver is set to the current distance behind thefollowed vehicle 100′. The value of d_driver set in this manner may bechanged by the system 110A as a function of speed of the vehicle 100 insome embodiments. Thus if host vehicle speed subsequently increases, thevalue of d_driver may be increased whilst if host vehicle speeddecreases the value of d_driver may be decreased.

The ACC system 110A is also operable in an ACC economy (or ACC ECO) modeof operation. In this mode the driver is again able to set the value ofd_driver. However, the ACC system 110A is arranged to determine a valueof a gap, d_ECO, which may be referred to as an ‘ECO cruise gap’, beinga distance that is to be added to the driver desired distance d_driverto obtain a target distance d_target (i.e. d_target=d_driver+d_ECO). Thetarget distance d_target is the distance that the host vehicle 100 issubsequently controlled to maintain behind the followed vehicle 100′ bythe ACC system 110A. When the ACC system 110A determines that slowing ofthe vehicle is required, the system 110A is configured to apply onlyregenerative braking if the actual distance between the host andfollowed vehicles is greater than d_driver unless circumstances requiremore aggressive deceleration. Aggressive deceleration may be requiredfor example if the followed vehicle 100′ performs an emergency brakingmanoeuvre. It is found that establishment of the ECO cruise gap allowsmore efficient operation of the vehicle 100 because regenerative brakingmay be more frequently employed to achieve required braking whenfollowing a vehicle in preference to friction braking, increasing anoverall amount of energy recovered when it is required to slow thevehicle over a typical drive cycle.

In order to reduce a frequency with which the engine 121 is commanded toswitch on during operation in the ACC ECO mode, when operating in ACCECO mode the ACC system 110A is arranged to limit the amount ofacceleration that it may demand to a value that is achievable by thepowertrain of the vehicle 100 with the engine 121 switched off. This hasthe advantage that if the vehicle is operating with the engine switchedoff 121, whether in HEV mode or in driver selected EV mode, thecontroller 140 does not demand an amount of torque from the powertrainthat will require the engine 121 to be switched on. The engine 121therefore remains switched off unless an engine start is required for adifferent reason. For example, an engine start may be forced in theevent that the battery state of charge SOC is too low, or in the eventthe driver intervenes and demands an amount of torque that cannot bedelivered with the engine 121 switched off. In the latter case theengine 121 may be started automatically in order to meet the driverdemand for torque. The driver may demand an increased amount of torquefor example by executing a tip-in manoeuvre in which the driverdepresses the accelerator pedal 181 by a further amount. The driver maydo this for example in an attempt to accelerate past the followedvehicle 100′.

It is to be understood that the ACC system 110A may command a prescribedrate of acceleration of the vehicle 100, the controller 140 beingoperable to determine the amount of torque required of the vehiclepowertrain in order to meet the required acceleration. Alternatively theACC system 110A may command a prescribed amount of torque to bedeveloped by the powertrain, the controller 140 being operable todetermine the amount of torque to be provided by the powertrain to meetthe required torque demand.

The ACC system 110A is configured continually to monitor a speed of thefollowed vehicle 100′. If the vehicle 100 is following a followedvehicle 100′ with the engine 121 switched off and the ACC system 110Adetects that a difference in speed (or speed delta) between a speed ofthe host vehicle 100 and parameter target_speed exceeds a prescribedthreshold value delta_speed, and the followed vehicle 100′ isaccelerating at a rate exceeding a threshold valueacceleration_followed, the ACC system 110A is permitted to command anacceleration rate that exceeds that which may be achieved with theengine 121 switched off in order more quickly to accelerate the hostvehicle 100 towards the target speed target_speed. In such a scenariothe ACC system 110A may remain in the ECO mode, but the controller 140commands the engine 121 to start and deliver a required amount of torquein addition to or instead of the CIMG 123, typically in dependence onthe amount of drive torque that is required to be developed by thepowertrain. Once the difference between the speed of the host vehicleand the value of parameter target_speed falls below delta_speed, the ACCsystem 110A resumes normal operation in ECO mode. Thus a rate ofacceleration that may be imposed on the vehicle 100 by the ACC system110A is again limited to that which may be provided with the engine 121switched off. The controller 140 may then command switching off of theengine 121 subject to one or more other conditions being met. Forexample the controller 140 may require that the engine 121 remainsswitched on for a certain minimum time period following engine start inorder to reduce a risk of mode chattering.

In some embodiments, delta_speed is around 20 km/h. Other values arealso useful, for example any value in the range from around 10 km/h to40 km/h. Higher or lower values are also useful. It is to be understoodthat some embodiments of the invention have the advantage that if aspeed of traffic on a route such as a motorway or dual carriagewaysuddenly increases rapidly, for example after passing a busy junction,the ACC system 110A can respond by temporarily requesting a higher rateof acceleration than that which is available in EV mode, allowing cruisespeed to be achieved by the vehicle 100 more quickly. This may increasedriver enjoyment of the vehicle 100.

It is to be understood that a speed difference between the host vehicle100 and followed vehicle 100′ below which the ACC system 110A resumesnormal operation in ECO mode may be set to a value lower thandelta_speed by a hysteresis difference value hyst_value. Thus the ACCsystem 110A may be arranged to resume normal operation in ECO mode ifthe difference in speed falls below (delta_speed−hyst_value). Thisfeature has the advantage that a risk that the ACC system 110Aexperiences mode chattering (i.e. switching between ECO mode with theengine switched off and ECO mode with the engine switched on repeatedlyin rapid succession) may be reduced.

It is to be understood that if the ACC system 110A determines that thedifference in speed exceeds delta_speed more than a prescribed number oftimes within a given period of time (such as more than three timeswithin a period of 300 s), the ACC system 110A is configured to exit theECO mode of operation and to assume the ‘normal’, non-ECO mode. Acorresponding alert may be provided to a driver of the vehicle 100 toinform the driver of this change.

In some embodiments the ACC system 110A is also configured to exit theECO mode if the ACC system 110A determines that one or more prescribedconditions exist in respect of traffic flow. In some embodiments the ACCsystem 110A may be arranged to monitor data in respect of trafficreceived from an external source such as a radio data link service suchas a traffic message channel (TMC) or the like. For example if receiveddata indicates that traffic density exceeds a prescribed density (suchas a certain number of cars per minute passing a certain point along agiven route) the ACC system 110A may automatically exit the ECO mode andassume the ‘normal’ mode.

In some embodiments, alternatively or in addition the ACC system 110Amay monitor traffic density by monitoring the number of vehicles thatovertake the host vehicle 100 in a given period of time. If this numberexceeds a prescribed number in a given time period (such as more than 10cars per minute) the host vehicle may exit the ECO mode and assume thenormal mode.

In some embodiments the ACC system 110A may monitor in addition orinstead the number of vehicles that are overtaken by the host vehicle100 in a given period of time. Again if this number exceeds a prescribednumber such as 10 vehicles per minute or any other predetermined valuethe ACC system 110A may exit the ECO mode and assume the normal mode.

Measurements in respect of the number of vehicles passing or beingpassed may be made by means of radar module 101R or by one or more othersensors such as one or more other radar modules in addition to orinstead of the radar module 101R.

In the embodiment of FIG. 1 a minimum achievable rate of accelerationfor the ACC system 110A to remain in ECO mode is also defined, given byparameter accel_min. If the host vehicle 100 is unable to achieve a rateof acceleration of at least accel_min, for example due to the gradientof a driving surface or load carried by or towed by the vehicle 100, theACC system 110A is configured to start the engine 121. The ACC system110A is then permitted to request an acceleration rate exceeding thatwhich the CIMG 123 alone may provide. However in these circumstances theACC system 110A is arranged to remain in ECO mode.

It is to be understood that if the acceleration rate achievable by meansof the CIMG 123 alone subsequently exceeds the minimum value accel_min,the ACC system 110A is arranged to switch off the engine 121 provided noother conditions are met requiring the engine 121 to remain switched on.The ACC system 110A then limits the rate of acceleration that it maycommand to that which is achievable by means of the CIMG 123 alone. Insome embodiments a hysteresis gap may be introduced between the value ofaccel_min and the value of available acceleration by means of the CIMG123 alone, at which the ACC system 110A is permitted to shut down theengine 121. This has the advantage of reducing a risk of modechattering.

It is to be understood that one or more conditions may exist preventingshut down of the engine 121, such as a low battery state of charge SOC,high driver torque demand, a minimum period for which the engine 121must remain switched on following an engine start, a state of an engineaftertreatment system and/or one or more other conditions, in which casethe engine 121 may be controlled to remain switched on.

It is to be understood that in the embodiment of FIG. 1 the ACC system110A is operable to allow a driver to over-ride the ACC system 110A anddemand higher torque values by depressing an accelerator pedal 181. Theengine controller 121C is arranged to respond to such a torque demand ifit exceeds that commanded by the ACC system 110A. If the driverover-rides the ACC system 110A by demanding increased torque by means ofthe accelerator pedal 181 more than a prescribed number of times withina given period of time, such as more than three times in a given 10minute period or any other suitable number of times or period, the ACCsystem 110A is arranged to exit the ECO mode and assume operation in the‘normal’ mode. Thus the ACC system 110A is no longer restricted in theamount of acceleration it may demand, increasing a likelihood that theACC system 110A will demand values of acceleration (or of torque inorder to achieve values of acceleration, as described above), that aremore in line with a driver's requirements during a given journey. Thisfeature has the advantage that driver enjoyment of a vehicle 100 may beincreased.

In some embodiments the ACC system 110A or controller 140 may berequired to command an engine start whilst the ACC system 110A is in ECOmode in the absence of heavy traffic, for example due to the vehicle 100encountering an inclined driving surface. If such an engine start iscommanded, the ACC system 110A logs data in respect of the location atwhich the engine start was commanded. The ACC system 110A may beconfigured such that if the vehicle 100 subsequently approaches the samelocation in the same direction of travel, the engine 121 is switched onin advance of arrival at the logged location so that the engine 121 isready to deliver drive torque at that location. This feature has theadvantage that in some embodiments a more smooth delivery of torque tothe wheels may be provided, since the ACC system 110A is able toanticipate locations at which relatively high torque demand is likely tobe experienced.

Furthermore, because the ACC system 110A knows in advance of arrival atthe location that the engine 121 is likely to be required to deliverdrive torque at that location, in some embodiments the engine 121 may beswitched on a sufficiently long period in advance of arrival at thelocation that the engine 121 may be warmed in advance of arrival,enabling a reduction in emissions when drive torque is subsequentlydelivered by the engine 121 to the driveline 130.

It is to be understood that some embodiments of the present inventionhave the advantage that if an engine start is required for examplebecause an amount of available acceleration with the engine 121 switchedoff is below accel_min, the ACC system 110A logs the location andensures the engine 121 is ready to deliver drive torque when the vehicle100 subsequently passes that location. As noted above, the reason forthe available acceleration to fall to accel_min may for example be dueto vehicle loading, and/or inclination of the driving surface at asufficiently steep angle to reduce available acceleration belowaccel_min.

In some embodiments, the system 110A may be configured to log thelocation at which an engine start takes place only if the engine 121 wasstarted (1) not in response to driver intervention causing an enginestart such as accelerator pedal actuation, (2) when the traffic densitywas below a threshold value and (3) when any followed vehicle was notaccelerating at a rate exceeding a prescribed rate thereby triggering anengine start.

Other arrangements are also useful.

Throughout the description and claims of this specification, the words“comprise” and “contain” and variations of those words, for example“comprising” and “comprises”, mean “including but not limited to”, andare not intended to (and do not) exclude other moieties, additives,components, integers or steps.

Throughout the description and claims of this specification, thesingular encompasses the plural unless the context otherwise requires.In particular, where the indefinite article is used, the specificationis to be understood as contemplating plurality as well as singularity,unless the context requires otherwise.

Features, integers, characteristics, compounds, chemical moieties orgroups described in conjunction with a particular aspect, embodiment orexample of the invention are to be understood to be applicable to anyother aspect, embodiment or example described herein unless incompatibletherewith.

The invention claimed is:
 1. A speed control system for a hybridelectric vehicle, the vehicle having a powertrain comprising at leastone engine and at least one electric machine, wherein the system isconfigured to: allow a driver to set a target vehicle speed; operate thepowertrain in first and second speed control modes so as to change avehicle speed of the hybrid electric vehicle to maintain a prescribeddistance behind a followed vehicle without exceeding the target vehiclespeed, wherein in the first speed control mode the system limitsoperation of the powertrain to an electric vehicle (EV) mode in whichthe electric machine produces positive torque while the engine producesno positive torque; and determine that at least one of a prescribed oneor more conditions is met with reference to data obtained from a sensorof the hybrid electric vehicle or from an external source, the sensor orexternal source monitoring traffic or locations external to the vehicle,wherein in the second speed control mode the system allows operation ofthe powertrain in hybrid electric vehicle (HEV) mode, and EV inhibitmode, in which the engine produces positive torque, and wherein when theat least one of the prescribed one or more conditions is met, the systemswitches from the first speed control mode to the second speed controlmode to allow operation of the powertrain in the HEV mode and EV inhibitmode so as to change the vehicle speed to maintain the prescribeddistance behind the followed vehicle without exceeding the targetvehicle speed.
 2. The speed control system of claim 1, further operableto determine a required rate of acceleration of the vehicle in order tomaintain the prescribed distance behind the followed vehicle, the systembeing operable in the first speed control mode to limit operation of thepowertrain to the EV mode by limiting a maximum rate of accelerationthat is commanded by the system to a rate that is achievable in the EVmode.
 3. The speed control system of claim 2, further operable in thefirst speed control mode to limit the maximum rate of acceleration to arate corresponding substantially to the maximum rate achievable in theEV mode.
 4. The speed control system of claim 1, further operable in thefirst speed control mode to limit operation of the powertrain to the EVmode by limiting a maximum amount of drive torque that is commanded bythe system to an amount that is achievable in the EV mode.
 5. The speedcontrol system of claim 4, further operable in the first speed controlmode to limit the maximum amount of drive torque that is commanded bythe system to a rate corresponding substantially to the maximum amountachievable in the EV mode.
 6. The speed control system of claim 1,wherein the prescribed one or more conditions includes a condition thata difference between the target vehicle speed and a current vehiclespeed exceeds a prescribed delta speed value.
 7. The speed controlsystem of claim 6, wherein the prescribed delta speed value isdetermined in dependence on gradient of a surface over which the vehicleis driving.
 8. The speed control system of claim 6, wherein theprescribed one or more conditions includes the condition that adifference between the target vehicle speed and a current vehicle speedexceeds the prescribed delta speed value and a followed vehicle isaccelerating at a rate exceeding a prescribed followed vehicleacceleration rate.
 9. The speed control system of claim 8, wherein theprescribed followed vehicle acceleration rate is determined independence on gradient of a surface over which the vehicle is driving.10. The speed control system of claim 8, wherein the prescribed followedvehicle acceleration rate corresponds substantially to the maximum rateof acceleration that the system is permitted to command when the systemis operating in the first speed control mode and none of the prescribedone or more conditions is met.
 11. The speed control system of claim 1,wherein the prescribed one or more conditions includes a condition thatthe driver demands a rate of acceleration of the vehicle which exceeds aprescribed threshold value.
 12. The speed control system of claim 1,wherein the prescribed one or more conditions includes a condition thatthe driver demands an amount of drive torque which exceeds a prescribedthreshold value.
 13. The speed control system of claim 1, furtheroperable automatically to assume the second speed control mode if,whilst in the first speed control mode, the at least one engine isstarted more than a prescribed number of times within a prescribedperiod of time.
 14. The speed control system of claim 1, furtheroperable automatically to assume the second speed control mode if,whilst in the first speed control mode, it is determined that a densityof traffic exceeds a prescribed value.
 15. The speed control system ofclaim 14, further operable to determine the density of trafficresponsive to traffic density data received by the system from a trafficinformation service.
 16. The speed control system of claim 14, furtheroperable to determine the density of traffic responsive to measurementof a number of vehicles passing the vehicle within a prescribed periodof time.
 17. The speed control system of claim 14, further operable todetermine the density of traffic responsive to measurement of a numberof vehicles passed by the vehicle within a prescribed period of time.18. The speed control system of claim 1, further operable automaticallyto assume the second speed control mode if, whilst in the first speedcontrol mode, the driver increases a rate of acceleration of the vehicleabove a maximum value available in the EV mode; one or more times in agiven time period, a prescribed number of times over a given distance,or a prescribed number of times over a given journey.
 19. The speedcontrol system of claim 1, wherein the prescribed one or more conditionsincludes a condition that a maximum rate of acceleration achievable bythe vehicle in the EV mode is below a prescribed threshold value. 20.The speed control system of claim 1, wherein the prescribed one or moreconditions includes a condition that a maximum amount of torqueachievable by the vehicle in the EV mode is below a prescribed thresholdvalue.
 21. The speed control system of claim 1, further comprising adriver-operable control to select one of the first and second speedcontrol modes.
 22. The speed control system of claim 1, further operableto store data in respect of geographical locations at which an enginestart has been commanded by the system, when the vehicle subsequentlyapproaches a same location in substantially a same direction of travelthe system being configured to start the at least one engine in advanceof arrival at the location such that power generated as a consequence ofstarting the at least one engine is delivered to a driveline of thevehicle substantially at said location.
 23. The speed control system ofclaim 22, further configured to start the at least one engine in advanceof arrival at the same location such that drive torque from the engineis delivered to the driveline of the vehicle substantially at said samelocation.
 24. The speed control system of claim 22, further configuredto store said data in respect of geographical location only when the atleast one engine was started in the absence of driver interventioncausing an engine start.
 25. The speed control system of claim 22,further configured to store said data in respect of geographicallocation only when the at least one engine was started when trafficdensity was below a threshold value.
 26. The speed control system ofclaim 22, further configured to store said data in respect ofgeographical location only when a followed vehicle was not acceleratingat a rate exceeding a prescribed rate thereby triggering an enginestart.
 27. The speed control system of claim 22, wherein the at leastone engine was started when traffic density was below a threshold value.28. The speed control system of claim 1, wherein the data is indicativeof electromagnetic or ultrasonic radiation reflected from traffic anddetected by the sensor.
 29. A method of controlling speed of a hybridelectric vehicle via a speed control system, wherein the vehicle has apowertrain comprising an engine and an electric machine, the methodcomprising: allowing a driver to set a target vehicle speed; andoperating the powertrain in first and second speed control modes tochange a vehicle speed of the hybrid electric vehicle to maintain aprescribed distance behind a followed vehicle without exceeding thetarget vehicle speed; wherein in a first speed control mode of thecontrol system, operation of the powertrain is limited to an electricvehicle (EV) mode in which the electric machine produces positive torquewhile the engine produces no positive torque; and determining that atleast one of a prescribed one or more conditions is met with referenceto data obtained from a sensor of the hybrid electric vehicle or from anexternal source, the sensor or external source monitoring one or more oftraffic or locations external to the vehicle, wherein in a second speedcontrol mode of the control system, operation of the powertrain isallowed in hybrid electric vehicle (HEV) mode and EV inhibit mode, inwhich the engine produces positive torque, and wherein when the at leastone of the prescribed one or more conditions is met, the system switchesfrom the first speed control mode to the second control speed controlmode to allow operation of the powertrain in the HEV mode and EV inhibitmode so as to change the vehicle speed to maintain the prescribeddistance behind the followed vehicle without exceeding the targetvehicle speed.